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<div class="title">point_traits.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_POINT_TRAITS_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_POINT_TRAITS_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#ifdef __GNUC__</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#pragma GCC system_header</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &quot;pcl/pcl_macros.h&quot;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/PCLPointField.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;boost/type_traits/remove_all_extents.hpp&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;boost/type_traits/is_same.hpp&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;boost/mpl/assert.hpp&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#if PCL_LINEAR_VERSION(__GNUC__,__GNUC_MINOR__,__GNUC_PATCHLEVEL__) == PCL_LINEAR_VERSION(4,4,3)</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#include &lt;boost/mpl/bool.hpp&gt;</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="comment">// This is required for the workaround at line 109</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="preprocessor">#ifdef _MSC_VER</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="preprocessor">#include &lt;Eigen/src/StlSupport/details.h&gt;</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;{</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keyword">namespace </span>fields</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="comment">// Tag types get put in this namespace</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  }</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="keyword">namespace </span>traits</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  {</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="comment">// Metafunction to return enum value representing a type</span></div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="structpcl_1_1traits_1_1as_enum.html">   73</a></span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt; <span class="keyword">struct </span><a class="code" href="structpcl_1_1traits_1_1as_enum.html">asEnum</a> {};</div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="structpcl_1_1traits_1_1as_enum_3_01int8__t_01_4.html">   74</a></span>&#160;    <span class="keyword">template</span>&lt;&gt; <span class="keyword">struct </span><a class="code" href="structpcl_1_1traits_1_1as_enum.html">asEnum</a>&lt;int8_t&gt;   { <span class="keyword">static</span> <span class="keyword">const</span> uint8_t value = pcl::PCLPointField::INT8;    };</div>
<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="structpcl_1_1traits_1_1as_enum_3_01uint8__t_01_4.html">   75</a></span>&#160;    <span class="keyword">template</span>&lt;&gt; <span class="keyword">struct </span><a class="code" href="structpcl_1_1traits_1_1as_enum.html">asEnum</a>&lt;uint8_t&gt;  { <span class="keyword">static</span> <span class="keyword">const</span> uint8_t value = pcl::PCLPointField::UINT8;   };</div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="structpcl_1_1traits_1_1as_enum_3_01int16__t_01_4.html">   76</a></span>&#160;    <span class="keyword">template</span>&lt;&gt; <span class="keyword">struct </span><a class="code" href="structpcl_1_1traits_1_1as_enum.html">asEnum</a>&lt;int16_t&gt;  { <span class="keyword">static</span> <span class="keyword">const</span> uint8_t value = pcl::PCLPointField::INT16;   };</div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="structpcl_1_1traits_1_1as_enum_3_01uint16__t_01_4.html">   77</a></span>&#160;    <span class="keyword">template</span>&lt;&gt; <span class="keyword">struct </span><a class="code" href="structpcl_1_1traits_1_1as_enum.html">asEnum</a>&lt;uint16_t&gt; { <span class="keyword">static</span> <span class="keyword">const</span> uint8_t value = pcl::PCLPointField::UINT16;  };</div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="structpcl_1_1traits_1_1as_enum_3_01int32__t_01_4.html">   78</a></span>&#160;    <span class="keyword">template</span>&lt;&gt; <span class="keyword">struct </span><a class="code" href="structpcl_1_1traits_1_1as_enum.html">asEnum</a>&lt;int32_t&gt;  { <span class="keyword">static</span> <span class="keyword">const</span> uint8_t value = pcl::PCLPointField::INT32;   };</div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="structpcl_1_1traits_1_1as_enum_3_01uint32__t_01_4.html">   79</a></span>&#160;    <span class="keyword">template</span>&lt;&gt; <span class="keyword">struct </span><a class="code" href="structpcl_1_1traits_1_1as_enum.html">asEnum</a>&lt;uint32_t&gt; { <span class="keyword">static</span> <span class="keyword">const</span> uint8_t value = pcl::PCLPointField::UINT32;  };</div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="structpcl_1_1traits_1_1as_enum_3_01float_01_4.html">   80</a></span>&#160;    <span class="keyword">template</span>&lt;&gt; <span class="keyword">struct </span><a class="code" href="structpcl_1_1traits_1_1as_enum.html">asEnum</a>&lt;float&gt;    { <span class="keyword">static</span> <span class="keyword">const</span> uint8_t value = pcl::PCLPointField::FLOAT32; };</div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="structpcl_1_1traits_1_1as_enum_3_01double_01_4.html">   81</a></span>&#160;    <span class="keyword">template</span>&lt;&gt; <span class="keyword">struct </span><a class="code" href="structpcl_1_1traits_1_1as_enum.html">asEnum</a>&lt;double&gt;   { <span class="keyword">static</span> <span class="keyword">const</span> uint8_t value = pcl::PCLPointField::FLOAT64; };</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="comment">// Metafunction to return type of enum value</span></div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="structpcl_1_1traits_1_1as_type.html">   84</a></span>&#160;    <span class="keyword">template</span>&lt;<span class="keywordtype">int</span>&gt; <span class="keyword">struct </span><a class="code" href="structpcl_1_1traits_1_1as_type.html">asType</a> {};</div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="structpcl_1_1traits_1_1as_type_3_01pcl_1_1_p_c_l_point_field_1_1_i_n_t8_01_4.html">   85</a></span>&#160;    <span class="keyword">template</span>&lt;&gt; <span class="keyword">struct </span><a class="code" href="structpcl_1_1traits_1_1as_type.html">asType</a>&lt;pcl::PCLPointField::INT8&gt;    { <span class="keyword">typedef</span> int8_t   type; };</div>
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="structpcl_1_1traits_1_1as_type_3_01pcl_1_1_p_c_l_point_field_1_1_u_i_n_t8_01_4.html">   86</a></span>&#160;    <span class="keyword">template</span>&lt;&gt; <span class="keyword">struct </span><a class="code" href="structpcl_1_1traits_1_1as_type.html">asType</a>&lt;pcl::PCLPointField::UINT8&gt;   { <span class="keyword">typedef</span> uint8_t  type; };</div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="structpcl_1_1traits_1_1as_type_3_01pcl_1_1_p_c_l_point_field_1_1_i_n_t16_01_4.html">   87</a></span>&#160;    <span class="keyword">template</span>&lt;&gt; <span class="keyword">struct </span><a class="code" href="structpcl_1_1traits_1_1as_type.html">asType</a>&lt;pcl::PCLPointField::INT16&gt;   { <span class="keyword">typedef</span> int16_t  type; };</div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="structpcl_1_1traits_1_1as_type_3_01pcl_1_1_p_c_l_point_field_1_1_u_i_n_t16_01_4.html">   88</a></span>&#160;    <span class="keyword">template</span>&lt;&gt; <span class="keyword">struct </span><a class="code" href="structpcl_1_1traits_1_1as_type.html">asType</a>&lt;pcl::PCLPointField::UINT16&gt;  { <span class="keyword">typedef</span> uint16_t type; };</div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="structpcl_1_1traits_1_1as_type_3_01pcl_1_1_p_c_l_point_field_1_1_i_n_t32_01_4.html">   89</a></span>&#160;    <span class="keyword">template</span>&lt;&gt; <span class="keyword">struct </span><a class="code" href="structpcl_1_1traits_1_1as_type.html">asType</a>&lt;pcl::PCLPointField::INT32&gt;   { <span class="keyword">typedef</span> int32_t  type; };</div>
<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="structpcl_1_1traits_1_1as_type_3_01pcl_1_1_p_c_l_point_field_1_1_u_i_n_t32_01_4.html">   90</a></span>&#160;    <span class="keyword">template</span>&lt;&gt; <span class="keyword">struct </span><a class="code" href="structpcl_1_1traits_1_1as_type.html">asType</a>&lt;pcl::PCLPointField::UINT32&gt;  { <span class="keyword">typedef</span> uint32_t type; };</div>
<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="structpcl_1_1traits_1_1as_type_3_01pcl_1_1_p_c_l_point_field_1_1_f_l_o_a_t32_01_4.html">   91</a></span>&#160;    <span class="keyword">template</span>&lt;&gt; <span class="keyword">struct </span><a class="code" href="structpcl_1_1traits_1_1as_type.html">asType</a>&lt;pcl::PCLPointField::FLOAT32&gt; { <span class="keyword">typedef</span> <span class="keywordtype">float</span>    type; };</div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="structpcl_1_1traits_1_1as_type_3_01pcl_1_1_p_c_l_point_field_1_1_f_l_o_a_t64_01_4.html">   92</a></span>&#160;    <span class="keyword">template</span>&lt;&gt; <span class="keyword">struct </span><a class="code" href="structpcl_1_1traits_1_1as_type.html">asType</a>&lt;pcl::PCLPointField::FLOAT64&gt; { <span class="keyword">typedef</span> <span class="keywordtype">double</span>   type; };</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="comment">// Metafunction to decompose a type (possibly of array of any number of dimensions) into</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="comment">// its scalar type and total number of elements.</span></div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="structpcl_1_1traits_1_1decompose_array.html">   96</a></span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt; <span class="keyword">struct </span><a class="code" href="structpcl_1_1traits_1_1decompose_array.html">decomposeArray</a></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    {</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::remove_all_extents&lt;T&gt;::type type;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="keyword">static</span> <span class="keyword">const</span> uint32_t value = <span class="keyword">sizeof</span> (T) / <span class="keyword">sizeof</span> (type);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    };</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="comment">// For non-POD point types, this is specialized to return the corresponding POD type.</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="structpcl_1_1traits_1_1_p_o_d.html">  104</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1traits_1_1_p_o_d.html">POD</a></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    {</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">type</a>;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    };</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;<span class="preprocessor">#ifdef _MSC_VER</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="comment">/* Sometimes when calling functions like `copyPoint()` or `copyPointCloud`</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;<span class="comment">     * without explicitly specifying point types, MSVC deduces them to be e.g.</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="comment">     * `Eigen::internal::workaround_msvc_stl_support&lt;pcl::PointXYZ&gt;` instead of</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="comment">     * plain `pcl::PointXYZ`. Subsequently these types are passed to meta-</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="comment">     * functions like `has_field` or `fieldList` and make them choke. This hack</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;<span class="comment">     * makes use of the fact that internally `fieldList` always applies `POD` to</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="comment">     * its argument type. This specialization therefore allows to unwrap the</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;<span class="comment">     * contained point type. */</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1traits_1_1_p_o_d.html">POD</a>&lt;Eigen::internal::workaround_msvc_stl_support&lt;PointT&gt; &gt;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    {</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> type;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    };</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="comment">// name</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="comment">/* This really only depends on Tag, but we go through some gymnastics to avoid ODR violations.</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="comment">       We template it on the point type PointT to avoid ODR violations when registering multiple</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;<span class="comment">       point types with shared tags.</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;<span class="comment">       The dummy parameter is so we can partially specialize name on PointT and Tag but leave it</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;<span class="comment">       templated on dummy. Each specialization declares a static char array containing the tag</span></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;<span class="comment">       name. The definition of the static member would conflict when linking multiple translation</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;<span class="comment">       units that include the point type registration. But when the static member definition is</span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;<span class="comment">       templated (on dummy), we sidestep the ODR issue.</span></div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;<span class="comment">    */</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">class</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Tag, <span class="keywordtype">int</span> dummy = 0&gt;</div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="structpcl_1_1traits_1_1name.html">  138</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1traits_1_1name.html">name</a> : <a class="code" href="structpcl_1_1traits_1_1name.html">name</a>&lt;typename POD&lt;PointT&gt;::type, Tag, dummy&gt;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    {</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <span class="comment">// Contents of specialization:</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="comment">// static const char value[];</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      <span class="comment">// Avoid infinite compile-time recursion</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      BOOST_MPL_ASSERT_MSG((!boost::is_same&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, <span class="keyword">typename</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">POD&lt;PointT&gt;::type</a>&gt;::value),</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;                           POINT_TYPE_NOT_PROPERLY_REGISTERED, (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp;));</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    };</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="comment">// offset</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">class</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Tag&gt;</div>
<div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="structpcl_1_1traits_1_1offset.html">  150</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1traits_1_1offset.html">offset</a> : <a class="code" href="structpcl_1_1traits_1_1offset.html">offset</a>&lt;typename POD&lt;PointT&gt;::type, Tag&gt;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    {</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <span class="comment">// Contents of specialization:</span></div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <span class="comment">// static const size_t value;</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <span class="comment">// Avoid infinite compile-time recursion</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      BOOST_MPL_ASSERT_MSG((!boost::is_same&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, <span class="keyword">typename</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">POD&lt;PointT&gt;::type</a>&gt;::value),</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;                           POINT_TYPE_NOT_PROPERLY_REGISTERED, (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp;));</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    };</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="comment">// datatype</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">class</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Tag&gt;</div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="structpcl_1_1traits_1_1datatype.html">  162</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1traits_1_1datatype.html">datatype</a> : <a class="code" href="structpcl_1_1traits_1_1datatype.html">datatype</a>&lt;typename POD&lt;PointT&gt;::type, Tag&gt;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    {</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      <span class="comment">// Contents of specialization:</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      <span class="comment">// typedef ... type;</span></div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <span class="comment">// static const uint8_t value;</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      <span class="comment">// static const uint32_t size;</span></div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      <span class="comment">// Avoid infinite compile-time recursion</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      BOOST_MPL_ASSERT_MSG((!boost::is_same&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, <span class="keyword">typename</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">POD&lt;PointT&gt;::type</a>&gt;::value),</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;                           POINT_TYPE_NOT_PROPERLY_REGISTERED, (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp;));</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    };</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    <span class="comment">// fields</span></div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="structpcl_1_1traits_1_1field_list.html">  176</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1traits_1_1field_list.html">fieldList</a> : <a class="code" href="structpcl_1_1traits_1_1field_list.html">fieldList</a>&lt;typename POD&lt;PointT&gt;::type&gt;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    {</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      <span class="comment">// Contents of specialization:</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      <span class="comment">// typedef boost::mpl::vector&lt;...&gt; type;</span></div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <span class="comment">// Avoid infinite compile-time recursion</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      BOOST_MPL_ASSERT_MSG((!boost::is_same&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, <span class="keyword">typename</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">POD&lt;PointT&gt;::type</a>&gt;::value),</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;                           POINT_TYPE_NOT_PROPERLY_REGISTERED, (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp;));</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    };</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;<span class="preprocessor">#if PCL_LINEAR_VERSION(__GNUC__,__GNUC_MINOR__,__GNUC_PATCHLEVEL__) == PCL_LINEAR_VERSION(4,4,3)</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <span class="comment">/*</span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;<span class="comment">      At least on GCC 4.4.3, but not later versions, some valid usages of the above traits for</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;<span class="comment">      non-POD (but registered) point types fail with:</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;<span class="comment">      error: ‘!(bool)mpl_::bool_&lt;false&gt;::value’ is not a valid template argument for type ‘bool’ because it is a non-constant expression</span></div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;<span class="comment">      &quot;Priming the pump&quot; with the trivial assertion below somehow fixes the problem...</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    <span class="comment">//BOOST_MPL_ASSERT_MSG((!bool (mpl_::bool_&lt;false&gt;::value)), WTF_GCC443, (bool));</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    BOOST_MPL_ASSERT_MSG((!<span class="keywordtype">bool</span> (boost::mpl::bool_&lt;false&gt;::value)), WTF_GCC443, (<span class="keywordtype">bool</span>));</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  } <span class="comment">//namespace traits</span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  <span class="comment">// Return true if the PCLPointField matches the expected name and data type.</span></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  <span class="comment">// Written as a struct to allow partially specializing on Tag.</span></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Tag&gt;</div>
<div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="structpcl_1_1_field_matches.html">  201</a></span>&#160;  <span class="keyword">struct </span><a class="code" href="structpcl_1_1_field_matches.html">FieldMatches</a></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  {</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    <span class="keywordtype">bool</span> operator() (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_field.html">pcl::PCLPointField</a>&amp; field)</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    {</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      <span class="keywordflow">return</span> (field.name == <a class="code" href="structpcl_1_1traits_1_1name.html">traits::name&lt;PointT, Tag&gt;::value</a> &amp;&amp;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;              field.datatype == <a class="code" href="structpcl_1_1traits_1_1datatype.html">traits::datatype&lt;PointT, Tag&gt;::value</a> &amp;&amp;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;              (field.count == <a class="code" href="structpcl_1_1traits_1_1datatype.html">traits::datatype&lt;PointT, Tag&gt;::size</a> ||</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;               field.count == 0 &amp;&amp; <a class="code" href="structpcl_1_1traits_1_1datatype.html">traits::datatype&lt;PointT, Tag&gt;::size</a> == 1 <span class="comment">/* see bug #821 */</span>));</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    }</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  };</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> OutT&gt;</div>
<div class="line"><a name="l00226"></a><span class="lineno"><a class="line" href="structpcl_1_1_copy_if_field_exists.html">  226</a></span>&#160;  <span class="keyword">struct </span><a class="code" href="structpcl_1_1_copy_if_field_exists.html">CopyIfFieldExists</a></div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  {</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> traits::POD&lt;PointInT&gt;::type <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">Pod</a>;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno"><a class="line" href="structpcl_1_1_copy_if_field_exists.html#a8f5a0fc295bd62c4781efd0204e2f842">  236</a></span>&#160;    <a class="code" href="structpcl_1_1_copy_if_field_exists.html#a8f5a0fc295bd62c4781efd0204e2f842">CopyIfFieldExists</a> (<span class="keyword">const</span> PointInT &amp;pt,</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;                       <span class="keyword">const</span> std::string &amp;field,</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;                       <span class="keywordtype">bool</span> &amp;exists,</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;                       OutT &amp;value)</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      : pt_ (reinterpret_cast&lt;const <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">Pod</a>&amp;&gt;(pt)), name_ (field), exists_ (exists), value_ (value)</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    {</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      exists_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    }</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno"><a class="line" href="structpcl_1_1_copy_if_field_exists.html#a822ec4b898846516aac489060f1e5837">  250</a></span>&#160;    <a class="code" href="structpcl_1_1_copy_if_field_exists.html#a822ec4b898846516aac489060f1e5837">CopyIfFieldExists</a> (<span class="keyword">const</span> PointInT &amp;pt,</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;                       <span class="keyword">const</span> std::string &amp;field,</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;                       OutT &amp;value)</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      : pt_ (reinterpret_cast&lt;const <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">Pod</a>&amp;&gt;(pt)), name_ (field), exists_ (exists_tmp_), value_ (value)</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    {</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    }</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Key&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00259"></a><span class="lineno"><a class="line" href="structpcl_1_1_copy_if_field_exists.html#ae57f9d1c20c3ec3c8ec16ee5ff46aa65">  259</a></span>&#160;    <a class="code" href="structpcl_1_1_copy_if_field_exists.html#ae57f9d1c20c3ec3c8ec16ee5ff46aa65">operator() </a>()</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    {</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      <span class="keywordflow">if</span> (name_ == <a class="code" href="structpcl_1_1traits_1_1name.html">pcl::traits::name&lt;PointInT, Key&gt;::value</a>)</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      {</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;        exists_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1traits_1_1datatype.html">pcl::traits::datatype&lt;PointInT, Key&gt;::type</a> T;</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;        <span class="keyword">const</span> uint8_t* data_ptr = <span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span>uint8_t*<span class="keyword">&gt;</span>(&amp;pt_) + <a class="code" href="structpcl_1_1traits_1_1offset.html">pcl::traits::offset&lt;PointInT, Key&gt;::value</a>;</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;        value_ = <span class="keyword">static_cast&lt;</span>OutT<span class="keyword">&gt;</span> (*<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span>T*<span class="keyword">&gt;</span>(data_ptr));</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;      }</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    }</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      <span class="keyword">const</span> Pod &amp;pt_;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;      <span class="keyword">const</span> std::string &amp;name_;</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      <span class="keywordtype">bool</span> &amp;exists_;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;      <span class="comment">// Bogus entry</span></div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      <span class="keywordtype">bool</span> exists_tmp_;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      OutT &amp;value_;</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;  };</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160; </div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> InT&gt;</div>
<div class="line"><a name="l00291"></a><span class="lineno"><a class="line" href="structpcl_1_1_set_if_field_exists.html">  291</a></span>&#160;  <span class="keyword">struct </span><a class="code" href="structpcl_1_1_set_if_field_exists.html">SetIfFieldExists</a></div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;  {</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">traits::POD&lt;PointOutT&gt;::type</a> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">Pod</a>;</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160; </div>
<div class="line"><a name="l00300"></a><span class="lineno"><a class="line" href="structpcl_1_1_set_if_field_exists.html#a1cfc168b4c8715c46a2ca5189dbd78c4">  300</a></span>&#160;    <a class="code" href="structpcl_1_1_set_if_field_exists.html#a1cfc168b4c8715c46a2ca5189dbd78c4">SetIfFieldExists</a> (PointOutT &amp;pt,</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;                      <span class="keyword">const</span> std::string &amp;field,</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;                      <span class="keyword">const</span> InT &amp;value)</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      : pt_ (reinterpret_cast&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">Pod</a>&amp;&gt;(pt)), name_ (field), value_ (value)</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    {</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;    }</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160; </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Key&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00309"></a><span class="lineno"><a class="line" href="structpcl_1_1_set_if_field_exists.html#a535dc9055690886165944d920c51590f">  309</a></span>&#160;    <a class="code" href="structpcl_1_1_set_if_field_exists.html#a535dc9055690886165944d920c51590f">operator() </a>()</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;    {</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;      <span class="keywordflow">if</span> (name_ == <a class="code" href="structpcl_1_1traits_1_1name.html">pcl::traits::name&lt;PointOutT, Key&gt;::value</a>)</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;      {</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1traits_1_1datatype.html">pcl::traits::datatype&lt;PointOutT, Key&gt;::type</a> T;</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;        uint8_t* data_ptr = <span class="keyword">reinterpret_cast&lt;</span>uint8_t*<span class="keyword">&gt;</span>(&amp;pt_) + <a class="code" href="structpcl_1_1traits_1_1offset.html">pcl::traits::offset&lt;PointOutT, Key&gt;::value</a>;</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;        *<span class="keyword">reinterpret_cast&lt;</span>T*<span class="keyword">&gt;</span>(data_ptr) = <span class="keyword">static_cast&lt;</span>T<span class="keyword">&gt;</span> (value_);</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;      }</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    }</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160; </div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;      Pod &amp;pt_;</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;      <span class="keyword">const</span> std::string &amp;name_;</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;      <span class="keyword">const</span> InT &amp;value_;</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;  };</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160; </div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> ValT&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;  setFieldValue (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;pt, <span class="keywordtype">size_t</span> field_offset, <span class="keyword">const</span> ValT &amp;value)</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;  {</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    uint8_t* data_ptr = <span class="keyword">reinterpret_cast&lt;</span>uint8_t*<span class="keyword">&gt;</span>(&amp;pt) + field_offset;</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    *<span class="keyword">reinterpret_cast&lt;</span>ValT*<span class="keyword">&gt;</span>(data_ptr) = value;</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;  }</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160; </div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> ValT&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;  getFieldValue (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;pt, <span class="keywordtype">size_t</span> field_offset, ValT &amp;value)</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;  {</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    <span class="keyword">const</span> uint8_t* data_ptr = <span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span>uint8_t*<span class="keyword">&gt;</span>(&amp;pt) + field_offset;</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    value = *<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span>ValT*<span class="keyword">&gt;</span>(data_ptr);</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;  }</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;}</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160; </div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_POINT_TRAITS_H_</span></div>
<div class="ttc" id="astructpcl_1_1_copy_if_field_exists_html"><div class="ttname"><a href="structpcl_1_1_copy_if_field_exists.html">pcl::CopyIfFieldExists</a></div><div class="ttdoc">A helper functor that can copy a specific value if the given field exists.</div><div class="ttdef"><b>Definition:</b> point_traits.h:227</div></div>
<div class="ttc" id="astructpcl_1_1_copy_if_field_exists_html_a822ec4b898846516aac489060f1e5837"><div class="ttname"><a href="structpcl_1_1_copy_if_field_exists.html#a822ec4b898846516aac489060f1e5837">pcl::CopyIfFieldExists::CopyIfFieldExists</a></div><div class="ttdeci">CopyIfFieldExists(const PointInT &amp;pt, const std::string &amp;field, OutT &amp;value)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> point_traits.h:250</div></div>
<div class="ttc" id="astructpcl_1_1_copy_if_field_exists_html_a8f5a0fc295bd62c4781efd0204e2f842"><div class="ttname"><a href="structpcl_1_1_copy_if_field_exists.html#a8f5a0fc295bd62c4781efd0204e2f842">pcl::CopyIfFieldExists::CopyIfFieldExists</a></div><div class="ttdeci">CopyIfFieldExists(const PointInT &amp;pt, const std::string &amp;field, bool &amp;exists, OutT &amp;value)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> point_traits.h:236</div></div>
<div class="ttc" id="astructpcl_1_1_copy_if_field_exists_html_ae57f9d1c20c3ec3c8ec16ee5ff46aa65"><div class="ttname"><a href="structpcl_1_1_copy_if_field_exists.html#ae57f9d1c20c3ec3c8ec16ee5ff46aa65">pcl::CopyIfFieldExists::operator()</a></div><div class="ttdeci">void operator()()</div><div class="ttdoc">Operator. Data copy happens here.</div><div class="ttdef"><b>Definition:</b> point_traits.h:259</div></div>
<div class="ttc" id="astructpcl_1_1_field_matches_html"><div class="ttname"><a href="structpcl_1_1_field_matches.html">pcl::FieldMatches</a></div><div class="ttdef"><b>Definition:</b> point_traits.h:202</div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_field_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_field.html">pcl::PCLPointField</a></div><div class="ttdef"><b>Definition:</b> PCLPointField.h:17</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1_set_if_field_exists_html"><div class="ttname"><a href="structpcl_1_1_set_if_field_exists.html">pcl::SetIfFieldExists</a></div><div class="ttdoc">A helper functor that can set a specific value in a field if the field exists.</div><div class="ttdef"><b>Definition:</b> point_traits.h:292</div></div>
<div class="ttc" id="astructpcl_1_1_set_if_field_exists_html_a1cfc168b4c8715c46a2ca5189dbd78c4"><div class="ttname"><a href="structpcl_1_1_set_if_field_exists.html#a1cfc168b4c8715c46a2ca5189dbd78c4">pcl::SetIfFieldExists::SetIfFieldExists</a></div><div class="ttdeci">SetIfFieldExists(PointOutT &amp;pt, const std::string &amp;field, const InT &amp;value)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> point_traits.h:300</div></div>
<div class="ttc" id="astructpcl_1_1_set_if_field_exists_html_a535dc9055690886165944d920c51590f"><div class="ttname"><a href="structpcl_1_1_set_if_field_exists.html#a535dc9055690886165944d920c51590f">pcl::SetIfFieldExists::operator()</a></div><div class="ttdeci">void operator()()</div><div class="ttdoc">Operator. Data copy happens here.</div><div class="ttdef"><b>Definition:</b> point_traits.h:309</div></div>
<div class="ttc" id="astructpcl_1_1traits_1_1_p_o_d_html"><div class="ttname"><a href="structpcl_1_1traits_1_1_p_o_d.html">pcl::traits::POD</a></div><div class="ttdef"><b>Definition:</b> point_traits.h:105</div></div>
<div class="ttc" id="astructpcl_1_1traits_1_1as_enum_html"><div class="ttname"><a href="structpcl_1_1traits_1_1as_enum.html">pcl::traits::asEnum</a></div><div class="ttdef"><b>Definition:</b> point_traits.h:73</div></div>
<div class="ttc" id="astructpcl_1_1traits_1_1as_type_html"><div class="ttname"><a href="structpcl_1_1traits_1_1as_type.html">pcl::traits::asType</a></div><div class="ttdef"><b>Definition:</b> point_traits.h:84</div></div>
<div class="ttc" id="astructpcl_1_1traits_1_1datatype_html"><div class="ttname"><a href="structpcl_1_1traits_1_1datatype.html">pcl::traits::datatype</a></div><div class="ttdef"><b>Definition:</b> point_traits.h:163</div></div>
<div class="ttc" id="astructpcl_1_1traits_1_1decompose_array_html"><div class="ttname"><a href="structpcl_1_1traits_1_1decompose_array.html">pcl::traits::decomposeArray</a></div><div class="ttdef"><b>Definition:</b> point_traits.h:97</div></div>
<div class="ttc" id="astructpcl_1_1traits_1_1field_list_html"><div class="ttname"><a href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList</a></div><div class="ttdef"><b>Definition:</b> point_traits.h:177</div></div>
<div class="ttc" id="astructpcl_1_1traits_1_1name_html"><div class="ttname"><a href="structpcl_1_1traits_1_1name.html">pcl::traits::name</a></div><div class="ttdef"><b>Definition:</b> point_traits.h:139</div></div>
<div class="ttc" id="astructpcl_1_1traits_1_1offset_html"><div class="ttname"><a href="structpcl_1_1traits_1_1offset.html">pcl::traits::offset</a></div><div class="ttdef"><b>Definition:</b> point_traits.h:151</div></div>
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